CN110980469A - Elevator traction vibration reduction system, device and method based on dynamic model - Google Patents
Elevator traction vibration reduction system, device and method based on dynamic model Download PDFInfo
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- CN110980469A CN110980469A CN201911383074.7A CN201911383074A CN110980469A CN 110980469 A CN110980469 A CN 110980469A CN 201911383074 A CN201911383074 A CN 201911383074A CN 110980469 A CN110980469 A CN 110980469A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
- B66B7/041—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations
- B66B7/042—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations with rollers, shoes
- B66B7/043—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes including active attenuation system for shocks, vibrations with rollers, shoes using learning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
- B66B11/026—Attenuation system for shocks, vibrations, imbalance, e.g. passengers on the same side
- B66B11/028—Active systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- Civil Engineering (AREA)
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- Cage And Drive Apparatuses For Elevators (AREA)
- Elevator Control (AREA)
Abstract
The invention belongs to the technical field of electrical equipment, and particularly relates to an elevator traction vibration damping system, device and method based on a dynamic model. When the elevator car generates abnormal vibration, the vibration damping control device can control the vibration adjusting device to actively start vibration so as to generate a vibration effect opposite to the abnormal vibration of the elevator car, offset the abnormal vibration of the elevator car and ensure the normal and stable running of the elevator car.
Description
Technical Field
The invention belongs to the technical field of electrical equipment, and particularly relates to an elevator traction vibration reduction system, device and method based on a dynamic model.
Background
The elevator is divided into a low-speed elevator (V is less than 1m/s), a medium-speed elevator (V is more than or equal to 1.0m/s and less than or equal to 1.75m/s), a high-speed elevator (V is more than or equal to 2.0m/s and less than or equal to 4m/s) and an ultra-high-speed elevator (V is more than or equal to 5m/s) according to the running speed, the ultra-high-speed elevator is generally used for super high-rise buildings, the height of a floor is more than two and three hundred meters, the speed of the elevator is generally more than 4m/s, and. The elevator car runs at a high speed in a closed hoistway, the elevator runs unstably easily due to rapid change of air pressure and disturbance of air flow, the elevator runs stably in response to vibration of the elevator traction machine, and the vibration is easily caused due to high running linear speed of the traction machine of the ultra-high-speed elevator and large elevator load.
Disclosure of Invention
The invention provides an elevator traction vibration reduction system, device and method based on a dynamic model, which are used for solving the problems that the running linear speed of a traction machine of the conventional ultra-high-speed elevator is very high, and vibration is easily caused by the fact that the load of the elevator is large.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an elevator traction vibration reduction system based on a dynamic model is characterized by comprising an abnormality detection device, wherein the abnormality detection device comprises:
the acceleration sensor is used for detecting the acceleration of the elevator car and correspondingly outputting a first acceleration signal;
a contact determination unit that performs contact determination for determining whether or not the friction sliding member is in contact with the guide rod based on the first acceleration signal detected by the acceleration sensor, and repeatedly executes the contact determination while performing control of a coil current in accordance with a current pattern, thereby estimating an estimated value of a contact current at the time of no-load contact flowing through the coil;
a magnetic gap estimating unit that calculates a magnetic gap estimated value when the friction sliding member is in contact with the guide rod, with an attraction start current at the time of the attraction start when the coil current flows through the coil, a magnetic gap in a state where the coil current does not flow through the coil, and the contact current estimated value estimated by the contact determining unit as inputs;
and an abnormality detection unit that detects the abnormal state based on the estimated value of the magnetic gap at the time of contact estimated by the magnetic gap estimation unit and transmits an abnormal state signal.
And the vibration damping control device is respectively and electrically connected with the abnormality detection device and the vibration adjusting device and is used for receiving the abnormal state signal sent by the abnormality detection device and controlling the vibration adjusting device to damp the elevator car by sending a current adjusting signal.
The vibration adjusting device comprises a first servo motor, a sliding table and a spring, wherein the servo motor is connected with the sliding table, and the sliding table is connected with the guide shoe roller through the spring;
the first servo motor moves the sliding table under the action of the current adjusting signal, and the sliding table pushes the guide shoe roller to move along the vibration direction through the spring.
Preferably, the elevator car vibration damping device further comprises a plurality of adjustable vibration units and a second servo motor, the second servo motor is matched with the adjustable vibration units, and the second servo motor is electrically connected with the vibration regulating device and used for driving the adjustable vibration units to start vibration when receiving a driving signal output by the vibration damping control device so as to counteract abnormal vibration generated by the elevator car.
Preferably, the adjustable vibration unit comprises an adjustable hydraulic damper or an adjustable pneumatic damper.
Preferably, the second servo motor is provided with a vibration damping coupling.
Preferably, the damping coupling is installed between the input flange and the output flange, and the damping mechanism comprises an adapter plate, a sliding block and a damping roller; and two sides of the adapter plate are respectively fixed with the input flange and the output flange.
An elevator traction vibration damping apparatus based on a kinetic model, the apparatus comprising:
the abnormality detection module is used for acquiring the first acceleration signal, detecting the abnormal state and sending an abnormal state signal;
the vibration reduction control module is used for receiving the abnormal state signal sent by the abnormality detection device and controlling the vibration adjustment device to reduce the vibration of the elevator car by sending a current adjustment signal;
and the vibration adjusting module is used for receiving the current adjusting signal and damping the elevator car.
A dynamic model-based elevator traction vibration reduction method is applied to an elevator vibration reduction system; characterized in that the method comprises:
s1, acquiring the first acceleration signal;
s2, estimating a contact current estimation value at the time of no-load contact by the coil by performing contact determination for determining whether the friction sliding member is in contact with the guide bar or not based on the first acceleration signal detected by the acceleration sensor and by repeating the contact determination while performing control of the coil current in accordance with a current pattern;
s3 calculating a magnetic gap estimate value when the friction sliding member is in contact with the guide rod, using as input an attraction start current at the time of the attraction start when the coil current flows through the coil, a magnetic gap in a state where the coil current does not flow through the coil, and the contact current estimate value estimated by the contact determination unit;
s4, detecting the abnormal state and sending an abnormal state signal according to the estimated value of the magnetic gap at the time of the contact estimated by the magnetic gap estimation unit;
and S5, controlling a vibration adjusting device to damp the vibration of the elevator car according to the sent abnormal state signal.
Preferably, the step S5 further includes the steps of: the first servo motor moves the sliding table under the action of the current adjusting signal, and the sliding table pushes the guide shoe roller to move along the vibration direction through the spring; and the second servo motor drives the plurality of adjustable vibration units to start vibration so as to offset abnormal vibration generated by the elevator car.
The beneficial technical effects of the invention are as follows:
according to the elevator vibration damping system, the vibration damping method and the device, the vibration adjusting device is used as a vibration damping element at the rope end taper sleeve of the suspension rope, so that vibration damping control of the elevator car is provided. By combining the combined design of the acceleration detector and the vibration damping control device, when the elevator vibration damping system is applied, the vibration damping control device can monitor whether the elevator car generates abnormal vibration or not according to the acceleration of the elevator car detected by the acceleration detector in real time and the acceleration of the elevator car monitored by the elevator main control equipment. When the elevator car generates abnormal vibration, the vibration damping control device can control the vibration adjusting device to actively start vibration so as to generate a vibration effect opposite to the abnormal vibration of the elevator car, offset the abnormal vibration of the elevator car and ensure the normal and stable running of the elevator car. So, realized elevator car's damping control more effectively, improved damping efficiency by a wide margin, can also promote elevator passenger's the travelling comfort of taking.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 shows a control schematic of the apparatus of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An elevator traction vibration damping system based on a dynamic model comprises an abnormality detection device, wherein the abnormality detection device comprises:
the acceleration sensor is used for detecting the acceleration of the elevator car and correspondingly outputting a first acceleration signal;
a contact determination unit that performs contact determination for determining whether or not the friction sliding member is in contact with the guide rod based on the first acceleration signal detected by the acceleration sensor, and repeatedly executes the contact determination while performing control of a coil current in accordance with a current pattern, thereby estimating an estimated value of a contact current at the time of no-load contact flowing through the coil;
a magnetic gap estimating unit that calculates a magnetic gap estimated value when the friction sliding member is in contact with the guide rod, with an attraction start current at the time of the attraction start when the coil current flows through the coil, a magnetic gap in a state where the coil current does not flow through the coil, and the contact current estimated value estimated by the contact determining unit as inputs;
and an abnormality detection unit that detects the abnormal state based on the estimated value of the magnetic gap at the time of contact estimated by the magnetic gap estimation unit and transmits an abnormal state signal.
And the vibration damping control device is respectively and electrically connected with the abnormality detection device and the vibration adjusting device and is used for receiving the abnormal state signal sent by the abnormality detection device and controlling the vibration adjusting device to damp the elevator car by sending a current adjusting signal.
The vibration adjusting device comprises a first servo motor, a sliding table and a spring, wherein the servo motor is connected with the sliding table, and the sliding table is connected with the guide shoe roller through the spring;
the first servo motor moves the sliding table under the action of the current adjusting signal, and the sliding table pushes the guide shoe roller to move along the vibration direction through the spring.
Carrying out low-pass filtering processing on the acceleration signal to obtain a target acceleration signal;
the step of proportional-integral adjusting the acceleration signal comprises the steps of:
and carrying out proportional integral adjustment on the target acceleration signal.
In the embodiment, the purpose of elevator vibration reduction is to improve the comfort level of passengers taking an elevator so that passengers cannot feel the vibration of the elevator, and the vibration frequency which can be felt by passengers is generally lower, so before proportional-integral adjustment of an acceleration signal, low-pass filtering processing can be performed on the acceleration signal, only the low-frequency acceleration signal is processed, and the processing process is simplified.
Optionally, the passing frequency range of the low-pass filtering may be 1-5 Hz where a human body is sensitive.
In one embodiment, the step of driving the servo motor with the current adjustment signal comprises the steps of:
and acquiring a difference signal of the current adjusting signal and a first moment current signal of the servo motor, performing proportional integral adjustment on the difference signal, acquiring a voltage adjusting signal of the servo motor, and driving the servo motor by using the voltage adjusting signal.
In this embodiment, the response of the servo motor is generally controlled by the voltage of the servo motor, and in order to facilitate smooth driving of the servo motor for control, a difference signal between the current regulation signal and the first torque current signal of the servo motor may be subjected to proportional-integral regulation to obtain a voltage regulation signal, so that the servo motor pushes the guide shoe roller.
Alternatively, the first torque current signal of the servo motor may be 0 at the initial stage of the control.
In one embodiment, the step of driving the servo motor with the voltage adjustment signal further comprises the following steps:
acquiring encoder signals of a servo motor, and acquiring current position signals of a guide shoe roller and speed signals output by the servo motor in the vibration direction according to the encoder signals;
carrying out proportional integral adjustment on the position signal to obtain a speed adjustment signal, and carrying out proportional integral adjustment on a difference signal between the speed adjustment signal and the speed signal to obtain a speed loop adjustment current signal;
acquiring a current signal of the servo motor, and decomposing the current signal to obtain a second torque current signal;
acquiring an acceleration ring adjusting current signal after performing proportional integral adjustment on the acceleration signal, acquiring a sum current signal of the speed ring adjusting current signal and the acceleration ring adjusting current signal, acquiring a difference signal of the sum current signal and the second moment current signal, performing proportional integral adjustment on the difference signal, acquiring a second voltage adjusting signal of the servo motor, and driving the servo motor according to the second voltage adjusting signal.
In this embodiment, since the position of the shoe roller has changed after the servo motor pushes the shoe roller to move in the vibration direction, the shoe roller is continuously pushed with the same driving force, which is not beneficial to the elimination of the vibration, and the control current of the servo motor can be further adjusted by the feedback of the current position signal of the shoe roller and the speed signal in the vibration direction output by the servo motor. The servo motor can be configured with an encoder, the encoder records the motion process of the car, the current position signal of the guide shoe roller and the speed signal output by the servo motor in the vibration direction can be obtained according to the signal recorded by the encoder, the speed loop adjusting current signal is obtained through proportional-integral adjustment, the second moment current signal of the acceleration loop adjusting current signal and the servo motor is combined to obtain the second voltage adjusting signal, the servo motor is further adjusted, the motion of the guide shoe roller is enabled to be more consistent with the actual position and speed change of the car, and the process of pushing the guide shoe roller is enabled to be more stable.
Optionally, after the servo motor is driven according to the second voltage adjustment signal, the process of obtaining the feedback current signal to further adjust the control current of the servo motor in this embodiment may be repeated until the second voltage adjustment signal is 0, which is equivalent to that the guide shoe roller is not affected by the external vibration factor, and the servo motor is not needed to push the guide shoe roller.
In one embodiment, the step of obtaining the second voltage regulation signal of the servo motor comprises the following steps:
and acquiring an excitation current signal after the current signal is decomposed, performing proportional integral adjustment on the excitation current signal, acquiring an adjustment signal of the excitation current signal, and acquiring a second voltage adjustment signal of the servo motor according to the adjustment signal of the excitation current signal, the adjustment signal after the proportional integral adjustment on the difference signal and the position signal.
In this embodiment, in the process of adjusting the servo motor, the voltage adjusting signal not only acts on the torque current signal of the servo motor, but also affects the exciting current signal of the servo motor, and more accurate voltage adjusting signal can be obtained through proportional-integral adjustment and feedback of the exciting current signal of the servo motor, so that the accuracy of pushing the guide shoe roller is improved.
In one embodiment, the step of proportional-integral adjusting the acceleration signal comprises the steps of:
and performing gain processing on the acceleration signal according to a preset gain proportion, and performing proportional-integral adjustment on the gained acceleration signal.
In this embodiment, in the running process of the elevator, the acceleration signal of the elevator car in the vibration direction is usually small, and the acceleration signal is subjected to gain processing through a preset gain proportion, so that subsequent signal processing is facilitated, and an accurate current regulation signal of the servo motor is obtained.
In one embodiment, the acceleration signal includes a first vibration direction acceleration signal or a second vibration direction acceleration signal, and the first vibration direction and the second vibration direction are perpendicular to each other.
In this embodiment, in the actual operation process of the elevator, mainly there are vibrations in two mutually perpendicular directions, and when the elevator damping control, can adjust control to the vibration of these two kinds of different directions respectively to guarantee the damping effect of elevator to the at utmost.
Optionally, during the operation of the elevator car, the most easily caused by the deformation of the elevator guide rails and the disturbance of the air pressure around the elevator car is the transverse vibration of the elevator, which is also an important factor influencing the comfort of passengers, so that the vibration direction can be selected to be the transverse direction, and the vibration of the elevator car in the transverse direction can be divided into the vibration in the left and right directions and the vibration in the front and back directions because the whole elevator car is generally in a cuboid shape. The first vibration direction may be a direction of left-right vibration, and the second vibration direction may be a direction of front-back vibration.
The present invention also provides an elevator vibration damping control system according to the above-described elevator vibration damping control method, and an embodiment of the elevator vibration damping control system according to the present invention will be described in detail below.
In a specific embodiment, the scheme of the invention can be applied to the scene of vibration reduction of elevator operation.
The scheme of this specific embodiment mainly uses servo motor drive slip table control to lead the spring on the boots gyro wheel, adjusts the moment between boots gyro wheel and the guide rail according to the direction and the size of the acceleration of the car that detect, reduces the car vibration.
The basic framework of elevator vibration damping control, ACM1, ACM2 are acceleration sensor acquisition board 1 and acquisition board 2, and Motor1, Motor2, Motor3 are multiMochuan servo Motor, and servo Motor contains 17 absolute position encoders and brake. The system consists of a mechanical part and an electrical part, wherein the electrical part is a control mechanism, and the mechanical part is an actuating mechanism. The mechanical part comprises two guide shoes arranged on the left side and the right side of the car bottom, the guide shoe on the right side comprises two servo motors, namely a Motor1 and a Motor3, the Motor1 controls the stress of the guide shoe roller in the front-back direction, the Motor3 controls the stress of the guide shoe roller in the left-right direction, the guide shoe on the left side comprises a servo Motor2, the stress of the guide shoe in the front-back direction is controlled, and the Motor1 and the Motor2 are opposite in installation position, so that the control force output directions are opposite. The servo motor is connected with the sliding table through a screw rod, a connecting spring is arranged on the sliding table, and the spring force is applied to the roller
Lead the damping principle of boots left and right directions, lead the boots gyro wheel and upwards move along the guide rail, when moving to the guide rail not flat department, the car will be when the skew toward the right, acceleration direction right will be gathered to acceleration acquisition board ACM1, the default acceleration of system setting is 0, the PI input is the burden, use acceleration PI to adjust, convert into servo motor M3's electric current, control servo motor's slider moves right, right side is to spring compression, the gyro wheel moves right, prevent the car and further move right, thereby reduce the vibration that the guide rail is uneven causes the car, guarantee the stationarity of elevator operation. The control principle of the front and back directions is the same, and the difference is that the Motor1 controls the two rollers on the right side, and the Motor2 controls the two rollers on the left side.
The vibration reduction control device is characterized by further comprising a plurality of adjustable vibration units and a second servo motor, wherein the second servo motor is matched with the adjustable vibration units, and the second servo motor is electrically connected with the vibration adjusting device and used for driving the adjustable vibration units to start vibration when receiving a driving signal output by the vibration reduction control device so as to counteract abnormal vibration generated by the elevator car.
Wherein the adjustable vibration unit comprises an adjustable hydraulic damper or an adjustable pneumatic damper.
It should be noted that the second servo motor is provided with a vibration damping coupler, wherein the vibration damping coupler is installed between the input flange and the output flange, and the vibration damping mechanism comprises an adapter plate, a slider and a vibration damping roller; and two sides of the adapter plate are respectively fixed with the input flange and the output flange.
In addition, n sliding grooves are uniformly distributed on the circumference of the side face, connected with the input flange, of the adapter plate, wherein n is more than or equal to 2, the extending direction of each sliding groove is the radial direction of the adapter plate, and the sliding blocks are arranged in the sliding grooves and move along the sliding grooves; the front surface of the slide block is provided with a semicircular rolling groove, the vibration reduction roller is arranged in the rolling groove and is in clearance fit with the rolling groove,
in order to reduce the torsional vibration of a transmission system, the coupling also has certain buffering and damping performance, so that certain optimized design based on dynamics needs to be carried out on the coupling, and the maximum rotating radius Rmax of the sliding block, the rotating radius r of the damping roller and the radius r of the damping roller are determinedc(ii) a Wherein, the center of the switching disk is set as O1The center of the surface of the sliding block close to the center of the switching disk is O2The center of the damping roller is O3R is O1O2Rmax is the maximum value that R can take, R is O2O3The specific steps are as follows:
s1, determining the main vibration frequency omega of the transmission shaft system according to the working condition of the transmission system;
(1) under the condition that torsional vibration of a shafting is easy to detect, directly utilizing a torsional vibration sensor to measure the vibration angular displacement of the transmission shafting, and obtaining a main vibration frequency omega through FFT analysis;
(2) under the condition that torsional vibration of a shafting is not easy to detect, a torsional vibration dynamic equation of the transmission shafting is established:
in the formula, [ M ] is an equivalent mass matrix, [ K ] is an equivalent stiffness matrix, [ C ] is an equivalent damping matrix, [ F ] is an equivalent external excitation matrix, and delta is the vibration angular displacement of the transmission shafting;
solving the vibration mechanics equation to obtain vibration angular displacement delta, and obtaining main vibration frequency omega through FFT analysis;
s2, establishing a multi-objective optimization model of the vibration reduction mechanism, and determining the maximum rotation radius Rmax of the sliding block, the rotation radius r of the vibration reduction roller and the radius r of the vibration reduction rollercThe value of (3) enables the vibration damping coupler to reduce the torsional vibration of a transmission shaft system within the maximum rotating speed variation range;
s21, listing a multi-objective function of the damping mechanism optimization design problem, and determining the multi-objective function by the following formula:
wherein x ═ x 1, x 2, x 3 represents vectors of three design variables of the damping roller rotation radius, the damping roller radius, and the slider maximum rotation radius, D represents feasible ranges of three design variables of the damping roller rotation radius, the damping roller radius, and the slider maximum rotation radius, y represents two objective function vectors of the rotation speed variation range and the damping roller mass to which the damping coupling is applied, f1(x) represents the rotation speed variation range Δ n to which the damping coupling is applied, and f2(x) represents the damping roller mass m;
in the objective function vector, f1(x) Determined by the following equation:
in the formula, Δ n is a rotation speed variation range applicable to the vibration damping coupler, ω is a main vibration frequency of the transmission shafting, R is a design variable, namely a rotation radius of the vibration damping roller, Δ R is a variation range of a rotation radius of the slider, R max is a design variable, namely a maximum rotation radius of the slider, and R s is a radius of the transmission shafting, namely a radius of an input shaft/output shaft connected with the coupler;
in the objective function vector, f2(x) Determined by the following equation:
in the formula, m is the mass of the damping roller, r c is a design variable, namely the radius of the damping roller, and rho is the density of the damping roller material;
s22, listing the constraint conditions of the damping mechanism optimization design problem, and determining by the following formula:
and (3) vibration damping roller amplitude constraint:
where A is the external excitation amplitude, rcThe method comprises the following steps of (1) designing a variable, namely the radius of a vibration damping roller, rho is the material density of the vibration damping roller, Rmax is the design variable, namely the maximum rotation radius of a sliding block, r is the design variable, namely the rotation radius of the vibration damping roller, omega is the main vibration frequency of a transmission shaft system, a is the front side length of the sliding block, and r c is the design variable, namely the radius of the vibration damping roller;
and (3) restricting the maximum rotation radius R max of the slide block:
R s≤R max＜R*(6)
in the formula, Rs is the radius of a transmission shaft system, Rmax is a design variable, namely the maximum rotation radius of a sliding block, and R is the maximum radius of a coupling allowed by working conditions;
and (3) restricting the rotation radius r of the damping roller:
in the formula, a is the length of the front side of the sliding block, r c is a design variable, namely the radius of the damping roller, and r is a design variable, namely the rotation radius of the damping roller;
damping roller radius rcAnd (3) constraint:
in the formula, r is the minimum radius of the damping roller without non-linear jumping, r c is a design variable, namely the radius of the damping roller, and a is the side length of the front surface of the sliding block;
s23, solving the multi-objective optimization model of the damping mechanism to obtain the values of the maximum rotation radius Rmax of the designed variable slider, the rotation radius r of the damping roller and the radius r c of the damping roller.
The utility model provides an elevator tows damping device based on dynamics model, is applied to an elevator damping system, includes:
the abnormality detection module is used for acquiring the first acceleration signal, detecting the abnormal state and sending an abnormal state signal;
the vibration reduction control module is used for receiving the abnormal state signal sent by the abnormality detection device and controlling the vibration adjustment device to reduce the vibration of the elevator car by sending a current adjustment signal;
and the vibration adjusting module is used for receiving the current adjusting signal and damping the elevator car.
Referring to fig. 2, a schematic structural diagram of an elevator traction vibration damping device according to an embodiment of the present invention is shown. The elevator traction vibration damper in the embodiment comprises:
the abnormality detection module comprises an acceleration acquisition unit, a detection unit and a control unit, wherein the acceleration acquisition unit is used for acquiring a first acceleration signal of the lift car in the vibration direction when the lift car of the lift runs;
the adjusting signal acquiring unit is used for carrying out proportional integral adjustment on the acceleration signal to acquire a current adjusting signal of the servo motor;
and the vibration reduction control unit is used for driving the servo motor by using the current regulation signal to push the guide shoe roller on the car to move along the vibration direction.
In one embodiment, the adjustment signal acquisition unit performs low-pass filtering processing on the acceleration signal to obtain a target acceleration signal; and carrying out proportional integral adjustment on the target acceleration signal.
In one embodiment, the vibration damping control unit obtains a difference value signal between the current adjusting signal and a first torque current signal of the servo motor, performs proportional integral adjustment on the difference value signal, obtains a voltage adjusting signal of the servo motor, and drives the servo motor by using the voltage adjusting signal.
In one embodiment, the vibration damping control unit acquires an encoder signal of a servo motor, and acquires a current position signal of the guide shoe roller and a speed signal output by the servo motor in the vibration direction according to the encoder signal; carrying out proportional integral adjustment on the position signal to obtain a speed adjustment signal, and carrying out proportional integral adjustment on a difference signal between the speed adjustment signal and the speed signal to obtain a speed loop adjustment current signal; acquiring a current signal of the servo motor, and decomposing the current signal to obtain a second torque current signal; acquiring an acceleration ring adjusting current signal after performing proportional integral adjustment on the acceleration signal, acquiring a sum current signal of the speed ring adjusting current signal and the acceleration ring adjusting current signal, acquiring a difference signal of the sum current signal and the second moment current signal, performing proportional integral adjustment on the difference signal, acquiring a second voltage adjusting signal of the servo motor, and driving the servo motor according to the second voltage adjusting signal.
In one embodiment, the vibration damping control unit obtains an excitation current signal after the current signal is decomposed, performs proportional integral adjustment on the excitation current signal, obtains an adjustment signal of the excitation current signal, and obtains a second voltage adjustment signal of the servo motor according to the adjustment signal of the excitation current signal, the adjustment signal after the proportional integral adjustment on the difference signal and the position signal.
In one embodiment, the adjustment signal obtaining unit performs gain processing on the acceleration signal according to a preset gain proportion, and performs proportional integral adjustment on the gain acceleration signal.
In one embodiment, the acceleration signal includes a first vibration direction acceleration signal or a second vibration direction acceleration signal, and the first vibration direction and the second vibration direction are perpendicular to each other.
The elevator vibration reduction control system and the elevator vibration reduction control method are in one-to-one correspondence, and the technical characteristics and the beneficial effects explained in the embodiment of the elevator vibration reduction control method are all applicable to the embodiment of the elevator vibration reduction control system.
An elevator traction vibration reduction method based on a dynamic model is applied to an elevator vibration reduction system, and the method comprises the following steps:
s1, acquiring the first acceleration signal;
s2, estimating a contact current estimation value at the time of no-load contact by the coil by performing contact determination for determining whether the friction sliding member is in contact with the guide bar or not based on the first acceleration signal detected by the acceleration sensor and by repeating the contact determination while performing control of the coil current in accordance with a current pattern;
s3 calculating a magnetic gap estimate value when the friction sliding member is in contact with the guide rod, using as input an attraction start current at the time of the attraction start when the coil current flows through the coil, a magnetic gap in a state where the coil current does not flow through the coil, and the contact current estimate value estimated by the contact determination unit;
s4, detecting the abnormal state and sending an abnormal state signal according to the estimated value of the magnetic gap at the time of the contact estimated by the magnetic gap estimation unit;
and S5, controlling a vibration adjusting device to damp the vibration of the elevator car according to the sent abnormal state signal.
The step S5 further includes the steps of: the first servo motor moves the sliding table under the action of the current adjusting signal, and the sliding table pushes the guide shoe roller to move along the vibration direction through the spring; and the second servo motor drives the plurality of adjustable vibration units to start vibration so as to offset abnormal vibration generated by the elevator car.
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.
Claims (8)
1. An elevator traction vibration reduction system based on a dynamic model is characterized by comprising an abnormality detection device, wherein the abnormality detection device comprises:
the acceleration sensor is used for detecting the acceleration of the elevator car and correspondingly outputting a first acceleration signal;
a contact determination unit that performs contact determination for determining whether or not the friction sliding member is in contact with the guide rod based on the first acceleration signal detected by the acceleration sensor, and repeatedly executes the contact determination while performing control of a coil current in accordance with a current pattern, thereby estimating an estimated value of a contact current at the time of no-load contact flowing through the coil;
a magnetic gap estimating unit that calculates a magnetic gap estimated value when the friction sliding member is in contact with the guide rod, with an attraction start current at the time of the attraction start when the coil current flows through the coil, a magnetic gap in a state where the coil current does not flow through the coil, and the contact current estimated value estimated by the contact determining unit as inputs;
and an abnormality detection unit that detects the abnormal state based on the estimated value of the magnetic gap at the time of contact estimated by the magnetic gap estimation unit and transmits an abnormal state signal.
And the vibration damping control device is respectively and electrically connected with the abnormality detection device and the vibration adjusting device and is used for receiving the abnormal state signal sent by the abnormality detection device and controlling the vibration adjusting device to damp the elevator car by sending a current adjusting signal.
The vibration adjusting device comprises a first servo motor, a sliding table and a spring, wherein the servo motor is connected with the sliding table, and the sliding table is connected with the guide shoe roller through the spring;
the first servo motor moves the sliding table under the action of the current adjusting signal, and the sliding table pushes the guide shoe roller to move along the vibration direction through the spring.
2. The elevator traction vibration reduction system based on the dynamic model as claimed in claim 1, further comprising a plurality of adjustable vibration units and a second servo motor, wherein the second servo motor is matched with the plurality of adjustable vibration units, and the second servo motor is electrically connected with the vibration adjusting device and is used for driving the plurality of adjustable vibration units to start vibration and counteract abnormal vibration generated by the elevator car when receiving the driving signal output by the vibration reduction control device.
3. The dynamic model-based elevator traction vibration damping system according to claim 1, wherein the adjustable vibration unit comprises an adjustable hydraulic damper or an adjustable pneumatic damper.
4. The dynamic model-based elevator traction vibration damping system according to claim 2, wherein the second servomotor is provided with a vibration damping coupling.
5. The dynamic model-based elevator traction vibration damping system according to claim 4, wherein the vibration damping coupler is installed between the input flange and the output flange, and the vibration damping mechanism comprises an adapter plate, a sliding block and a vibration damping roller; and two sides of the adapter plate are respectively fixed with the input flange and the output flange.
6. The elevator traction vibration damping device based on the dynamic model is applied to an elevator vibration damping system and is characterized by comprising the following components:
the abnormality detection module is used for acquiring the first acceleration signal, detecting the abnormal state and sending an abnormal state signal;
the vibration reduction control module is used for receiving the abnormal state signal sent by the abnormality detection device and controlling the vibration adjustment device to reduce the vibration of the elevator car by sending a current adjustment signal;
and the vibration adjusting module is used for receiving the current adjusting signal and damping the elevator car.
7. A dynamic model-based elevator traction vibration reduction method is applied to an elevator vibration reduction system; characterized in that the method comprises:
s1, acquiring the first acceleration signal;
s2, estimating a contact current estimation value at the time of no-load contact by the coil by performing contact determination for determining whether the friction sliding member is in contact with the guide bar or not based on the first acceleration signal detected by the acceleration sensor and by repeating the contact determination while performing control of the coil current in accordance with a current pattern;
s3 calculating a magnetic gap estimate value when the friction sliding member is in contact with the guide rod, using as input an attraction start current at the time of the attraction start when the coil current flows through the coil, a magnetic gap in a state where the coil current does not flow through the coil, and the contact current estimate value estimated by the contact determination unit;
s4, detecting the abnormal state and sending an abnormal state signal according to the estimated value of the magnetic gap at the time of the contact estimated by the magnetic gap estimation unit;
and S5, controlling a vibration adjusting device to damp the vibration of the elevator car according to the sent abnormal state signal.
8. The dynamic model-based elevator traction vibration reduction method according to claim 7, wherein the step S5 further comprises the steps of: the first servo motor moves the sliding table under the action of the current adjusting signal, and the sliding table pushes the guide shoe roller to move along the vibration direction through the spring; and the second servo motor drives the plurality of adjustable vibration units to start vibration so as to offset abnormal vibration generated by the elevator car.
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